/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "pid.h"
#include "math.h"
#include "stdlib.h"
#include "string.h"

CAN_TxHeaderTypeDef g_can1Txmsg = {
  .StdId = 0x200,
  .ExtId = 0x00000000,
  .IDE = CAN_ID_STD,
  .RTR = CAN_RTR_DATA, 
  .DLC = 8,
};

PID_t OUT = {
  .kp = 0.06f,
  .ki = 0.0f,
  .kd = 0.10f,
  .outmax = 320,
  .outmin = -320
};

PID_t INNER = {
  .kp = 15.0f,
  .ki = 0.3f,
  .kd = 0.0,
  .outmax = 15000,
  .outmin = -15000
};

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

#define RX_BUFF_SIZE 32
uint8_t uart_rx_buf[RX_BUFF_SIZE];
int16_t target_angle;
int16_t target_angle_deg;
int16_t current_angle;
int16_t current_angle_deg;
int16_t current_A;
int16_t target_A;
int16_t angle_error;
int16_t last_current_angle_deg;
int16_t differ_angle;
int16_t target_speed;
int16_t current_speed;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */

  HAL_CAN_Start(&hcan1);
  HAL_CAN_ConfigFilter(&hcan1,&can_filter);
  HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
  HAL_CAN_ActivateNotification(&hcan1,CAN_IT_TX_MAILBOX_EMPTY);
  HAL_UARTEx_ReceiveToIdle_DMA(&huart1,uart_rx_buf,RX_BUFF_SIZE);
  __HAL_DMA_DISABLE_IT(huart1.hdmarx,DMA_IT_HT);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    printf("11");
    
    HAL_Delay(10);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart,uint16_t Size)
{
  if(huart->Instance == USART1)
  {
    uart_rx_buf[Size] = '\0';
    int val = atoi((char*)uart_rx_buf);
    if(val >= 0 && val <= 360)
    {
      target_angle = (float)val;
      target_angle_deg = target_angle * 8192.0f / 360.0f;
     
    }

    // if(val >= -360 && val <= 360)
    // {
    //   target_angle += val;
    //   if(target_angle >= 360){target_angle -= 360;}
    //   if(target_angle >= -360 && target_angle < 0){target_angle += 360;}
     
    //   target_angle_deg = target_angle * 8192.0f / 360.0f;
     
    // }

      last_current_angle_deg = current_angle_deg;
    HAL_UARTEx_ReceiveToIdle_DMA(&huart1,uart_rx_buf,RX_BUFF_SIZE);
       __HAL_DMA_DISABLE_IT(huart1.hdmarx, DMA_IT_HT);
  }
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{

  CAN_RxHeaderTypeDef rxheader;
  uint8_t rxdata[8];
  if(hcan->Instance == CAN1)
  {
    HAL_CAN_GetRxMessage(&hcan1,CAN_RX_FIFO0,&rxheader,rxdata);
  }
  
  if(rxheader.StdId == 0x202)
  {
    
    current_angle_deg = (rxdata[0] << 8) | rxdata[1];
    current_speed = (rxdata[2] << 8) | rxdata[3];
    current_A = (rxdata[4] << 8) | rxdata[5];
    
    angle_error = target_angle_deg - current_angle_deg;
    if(angle_error > 4096)
    {
      angle_error -= 8192;
    }
    if(angle_error < -4096)
    {
      angle_error += 8192;
    }
    
    /* 外环 */
    OUT.target = angle_error;  
    OUT.actual = 0.0f;
    PID_Update(&OUT);

    /* 内环（建议给电流加一点点一阶低通后再当 actual） */
    INNER.target = OUT.out;
    INNER.actual = (float)current_speed;   
    PID_Update(&INNER);
    
    CAN_Send_Current(&g_can1Txmsg,INNER.out);
     differ_angle = current_angle_deg - last_current_angle_deg;
     if(differ_angle > 4096)
     {
      differ_angle -= 8192;
     }
     if(differ_angle < -4096)
     {
      differ_angle += 8192;
     }
     printf("%d,%d,%d,%d\n",current_angle_deg *360/8192,differ_angle*360/8192,target_angle_deg*360/8192,current_speed);
      
  }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
